+Easy Bluetooth 藍芽模組的問題

a50292

' {$STAMP BS2}
' {$PBASIC 2.5}

Ping            PIN     15
PingServo       PIN     14
LeftServo      PIN     13
RightServo      PIN     12
xx      PIN     11

BT_RX PIN 2
BT_TX PIN 0

BT_SPEED CON 84

tLeft VAR Word
tRight VAR Word
temp VAR Word

rawDist         VAR     Word
sweepcount      VAR     Word

x               VAR     Byte
pulseCount      VAR     Byte

counter VAR Word
inDistance VAR Word

Main:
FOR sweepcount = 350 TO 1150 STEP 100
  FOR x = 0 TO 5
    PULSOUT 15, sweepcount
    PAUSE 10
  NEXT
  GOSUB GetSonar
NEXT

FOR sweepcount = 950 TO 550 STEP 100
  FOR x = 0 TO 5
    PULSOUT 15, sweepcount
    PAUSE 10
  NEXT
  GOSUB GetSonar
NEXT
GOTO Main

GetSonar:

LOW 15
PULSOUT 15, 5
PULSIN 15, 1, rawDist

  IF (rawDist < 600) THEN
    IF (sweepcount < 750) THEN
      GOSUB Turn_Left
    ELSEIF (sweepcount > 750) THEN
      GOSUB Turn_Right
    ELSE
      GOSUB Back_Up
    ENDIF
  ELSE
    GOSUB Forward_Pulse
  ENDIF

RETURN



Forward_Pulse:
FOR pulsecount = 0 TO 5

HIGH 14
LOW 13
LOW 11
HIGH 12

PAUSE 20
NEXT
RETURN

Turn_Left:
FOR pulseCount = 0 TO 10


LOW 13
HIGH 14


PAUSE 20
NEXT
RETURN

Turn_Right:

FOR pulseCount = 0 TO 10

LOW 12
HIGH 11

PAUSE 20
NEXT
RETURN

Back_Up:
FOR pulseCount = 0 TO 3

HIGH 13
LOW 14
LOW 11
HIGH 12



PAUSE 10
NEXT


FOR pulseCount = 0 TO 7

HIGH 13
LOW 14
LOW 11
HIGH 12


PAUSE 10
NEXT
RETURN



--------------

這是我還沒加上之前的 因為是要控制直流馬達跟感測器 所以用這樣寫 (1是往前 2是往後 不用左右)
不過加上藍芽的程式我摸不出來 希望能幫忙一下